Autonomous driving technology has developed rapidly in recent years with the help of deep learning methods. The success of deep learning relies heavily on the large-scale training data. According to different collection environments, road dataset for autonomous driving can be divided into two classes: on-road datasets and off-road datasets. The on-road datasets, such as KITTI [1]}, SemanticKITTI [2]}, nuScenes [3]} and Waymo [4]} have been widely used for autonomous driving. However, there are few datasets for off-road environments, and now, we will review the existing off-road datasets.
